nah...independence is SO important and sometimes they need a little push in the right direction. I have 2 2year olds as well. One can do it all no problem, and the other just sits there. I actually take his hands and place them where they need to be to pull off the heel. He got is fairly quickly...once he finally realized that he has to try if he doesn't want to sit at the door all day.
There's a way to do it. As long as your not taunting, which I know you're not, then it's all good IMO.